docker+ros2+nav2初试

#install docker
sudo apt install docker.io
#install ros2-humble
sudo docker pull osrf/ros:humble-simulation  #you can pull complete humble version(simulate is simple)
#start ro2humble and mout directory
#[recommend,specify /tmp/.X11 and DISPLAY]
docker run -it  --restart=always --name ros2humble -v /home/tom/Tom/DockerContent/nav2_ws(your docker path):/home/tom/Tom/DockerContent/nav2_ws(your local path) -v /tmp/.X11-unix:/tmp/.X11-unix:ro -e DISPLAY=$DISPLAY osrf/ros:humble-simulation /bin/bash

#look ro2humble container id
docker ps

#go into container ros2humble
docker exec -it containerID /bin/bash

#example:docker exec -it 726c5f11ac99 /bin/bash  #ros+navigation

#download nav2-humble source(I download to **mypath**/nav2_ws/src)
https://github.com/ros-planning/navigation2/tree/humble
#git clone https://github.com/ros-planning/navigation2.git --branch humble

#init nav2_ws as ros directory method

source /opt/ros/humble/setup.bash 

colcon build --symlink-install 

#install dependcy(in nav2_ws directory)
apt-get update
rosdep install -i --from-path navigation2-humble --rosdistro humble -y

#compile nav2-humble(in nav2_ws directory)
colcon build  #compile
##may exist problem(stderr:nav2_simple_commander)
pip install setuptools==58.2.0
colcon build  #recompile

#OR
export ROS_DISTRO=rolling
docker build --tag navigation2:$ROS_DISTRO \
  --build-arg FROM_IMAGE=ros:$ROS_DISTRO \
  --build-arg OVERLAY_MIXINS="release ccache lld" \
  --cache-from ghcr.io/ros-planning/navigation2:humble \
  ./navigation2

#open your local machine xhost for all user and client(for docker connect local graph resource)
sudo xhost +

#install rviz2/gazebo(humble-simulate not incluede them)
sudo apt update
sudo apt install ros-humble-rviz2
sudo apt install ros-humble-turtlebot3-gazebo

#test rviz2
method1:ros2 run rviz2 rviz2
method2:rviz2

#if you forgot (-e DISPLAY=$DISPLAY  /tmp/.X11-unix:/tmp/.X11-unix:ro)

##stop docker first

systemctl stop docker

##modified config.v2.json hostconfig.json
sudo su
cd /var/lib/docker/containers

##go into the container which yours
###config.v2.json:
          ####mount qt-x11 path
          "/tmp/.X11-unix": {
            "Source": "/tmp/.X11-unix",
            "Destination": "/tmp/.X11-unix",
            "RW": false,
            "Name": "",
            "Driver": "",
            "Type": "bind",
            "Relabel": "ro",  #this is:-v /tmp/.X11-unix:/tmp/.X11-unix:ro
            "Propagation": "rprivate",
            "Spec": {
                "Type": "bind",
                "Source": "/tmp/.X11-unix",
                "Target": "/tmp/.X11-unix",
                "ReadOnly": true
            },
            "SkipMountpointCreation": false
        }
        ####modify env
        "Env": [
            "DISPLAY=:0",
            "PATH=/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin",
            "LANG=C.UTF-8",
            "LC_ALL=C.UTF-8",
            "ROS_DISTRO=humble"
        ],

####hostconfig.json
    #mout qt-x11 path
    "Binds": [
        "/home/tom/Tom/DockerContent/nav2_ws:/home/tom/Tom/DockerContent/nav2_ws",
        "/tmp/.X11-unix"
    ],

#format json
:%!python -m json.tool
  

#restart docker and container

systemctl start docker

docker start containerID

#run example
##setting
source /opt/ros/humble/setup.bash
source ./install/setup.bash        #build from source code must use it,otherwise prompt couldn't find nav2_bringup
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

##run
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
  
#other docker command
#look image:docker image ls
#start docker: sudo systemctl start docker
#stop docker: sudo systemctl stop docker
#start container:docker start containerID
#stop container:docker stop containerID